CN116045982A - Ship path planning method and device for emergency rescue - Google Patents
Ship path planning method and device for emergency rescue Download PDFInfo
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Abstract
The disclosure provides a ship path planning method and device for emergency rescue, wherein the method comprises the following steps: acquiring real-time environment data on a ship, and determining a first path of a target object based on the real-time environment data, wherein the first path is a path supporting the passing of the target object; determining a target parameter corresponding to the target object; performing operation based on the target parameters to obtain an operation result; and determining a target path matched with the operation result in the first path so as to carry out path planning operation on the target object based on the target path.
Description
Technical Field
The disclosure relates to the technical field of data processing, in particular to a ship path planning method and device for emergency rescue situations.
Background
When a large passenger ship sails on the sea, the large passenger ship is often influenced by various emergencies to interfere the normal operation of the passenger ship, and the emergencies also bring adverse effects to the mind and the behavior of tourists, so that the evacuation difficulty and the evacuation cost in dealing with emergency situations are increased.
However, in the existing tourist evacuation scheme aiming at the emergency, the tourists are often guided to evacuate through the pre-installed escape guideboard marks, so that the escape route is very easy to be jammed, and meanwhile, when the escape route is invalid due to the emergency, the tourists cannot be guided to evacuate fast successfully, so that the tourist evacuation efficiency is reduced.
Disclosure of Invention
The embodiment of the disclosure at least provides a ship path planning method and device for emergency rescue.
In a first aspect, an embodiment of the present disclosure provides a method for planning a shipboard path for an emergency rescue, including:
acquiring real-time environment data on a ship, and determining a first path of a target object based on the real-time environment data, wherein the first path is a path supporting the passing of the target object;
determining a target parameter corresponding to the target object;
performing operation based on the target parameters to obtain an operation result;
and determining a target path matched with the operation result in the first path so as to carry out path planning operation on the target object based on the target path.
In an optional implementation manner, the calculating based on the target parameter to obtain an operation result includes:
Obtaining scoring of the scoring object on the target parameter;
and calculating the scoring of the target parameter based on the scoring object to obtain the weight of the target parameter, and determining the weight as the calculation result.
In an optional implementation manner, the calculating the score of the target parameter based on the scoring object to obtain the weight of the target parameter includes:
when the number of the target parameters is m, calculating the importance ratio r of each target parameter to the adjacent target parameters based on scoring of the scoring object on the m target parameters i ；
According to the formula
Calculating target parameter U m Weight w of (2) m ；
According to formula w k-1 ＝ k w k Calculating and dividing the target parameter U m Weights w of other target parameters than k-1 Where k=m, m-1, -2, … 2.
In an optional embodiment, the scoring of the m target parameters based on the scoring object calculates the importance ratio r of each target parameter to the adjacent target parameters i Comprising:
determining entropy value e of each target parameter based on scoring of m target parameters by scoring object j ；
According to the formula
Calculating the importance ratio r of each target parameter to the adjacent target parameter i 。
In an optional implementation manner, the determining, in the first path, a target path that matches the operation result includes:
Determining a result condition based on the operation result;
where the operation result includes the target parameter U m Weight w of (2) m At this time, according to equation c= Σ m＝1 w m U m Calculating a target value C corresponding to each first path;
and determining a target path of which the target value C meets the result condition in the first path.
In an alternative embodiment, the target parameters include: the system comprises a path time parameter, a path distance parameter, a congestion degree parameter, a turning number parameter, an object scheduling parameter, an escape exit utilization parameter, an escape path congestion degree parameter and a path equivalent parameter.
In an alternative embodiment, the determining the first path of the target object based on the real-time environment data includes:
determining an object type of the target object;
and determining a first path of which the path data is matched with the object type based on the real-time environment data.
In a second aspect, an embodiment of the present disclosure further provides a shipboard path planning device for an emergency rescue situation, including:
the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring real-time environment data on a ship and determining a first path of a target object based on the real-time environment data, wherein the first path is a path supporting the passing of the target object;
The first determining unit is used for determining target parameters corresponding to the target objects;
the operation unit is used for carrying out operation based on the target parameters to obtain an operation result;
and the second determining unit is used for determining a target path matched with the operation result in the first path so as to perform path planning operation for the target object based on the target path.
In a third aspect, embodiments of the present disclosure further provide a computer device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the computer device is running, the machine-readable instructions when executed by the processor performing the steps of the first aspect, or any of the possible implementations of the first aspect.
In a fourth aspect, the presently disclosed embodiments also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the first aspect, or any of the possible implementations of the first aspect.
In the embodiment of the disclosure, real-time environmental data on a ship can be acquired first, a first path supporting traffic is determined for a target object based on the real-time environmental data, and then a target parameter corresponding to the target object can be determined to perform operation based on the target parameter, so as to obtain an operation result. Then, a target path matched with the operation result can be determined in the first path, so that path planning operation is performed based on the target path as a target object, and dynamic path planning for the target object is realized by combining real-time environment data on a ship, so that the high efficiency and the safety of the planned path are improved, and the evacuation efficiency under emergency conditions is improved.
The foregoing objects, features and advantages of the disclosure will be more readily apparent from the following detailed description of the preferred embodiments taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for the embodiments are briefly described below, which are incorporated in and constitute a part of the specification, these drawings showing embodiments consistent with the present disclosure and together with the description serve to illustrate the technical solutions of the present disclosure. It is to be understood that the following drawings illustrate only certain embodiments of the present disclosure and are therefore not to be considered limiting of its scope, for the person of ordinary skill in the art may admit to other equally relevant drawings without inventive effort.
Fig. 1 shows a flowchart of a method for planning a ship path for emergency rescue according to an embodiment of the present disclosure;
FIG. 2 shows a schematic diagram of a two-dimensional spatial model of a ship's portion of space provided by an embodiment of the present disclosure;
FIG. 3 illustrates a topology network schematic of a two-dimensional spatial model provided by an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a ship path planning apparatus for emergency rescue according to an embodiment of the present disclosure;
fig. 5 shows a schematic diagram of a computer device provided by an embodiment of the present disclosure.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. The components of the embodiments of the present disclosure, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the disclosure, as claimed, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be made by those skilled in the art based on the embodiments of this disclosure without making any inventive effort, are intended to be within the scope of this disclosure.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The term "and/or" is used herein to describe only one relationship, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist together, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.
According to research, the large passenger ship is often influenced by various emergencies to interfere the normal operation of the passenger ship when the large passenger ship is sailed at sea, and the emergencies also bring adverse effects to the psychology and behaviors of tourists, so that the evacuation difficulty and cost in dealing with emergency situations are increased.
However, in the existing tourist evacuation scheme aiming at the emergency, the tourists are often guided to evacuate through the pre-installed escape guideboard marks, so that the escape route is very easy to be jammed, and meanwhile, when the escape route is invalid due to the emergency, the tourists cannot be guided to evacuate fast successfully, so that the tourist evacuation efficiency is reduced.
Based on the above researches, the disclosure provides a ship path planning method and device for emergency rescue situations. In the embodiment of the disclosure, real-time environmental data on a ship can be acquired first, a first path supporting traffic is determined for a target object based on the real-time environmental data, and then a target parameter corresponding to the target object can be determined to perform operation based on the target parameter, so as to obtain an operation result. Then, a target path matched with the operation result can be determined in the first path, so that path planning operation is performed based on the target path as a target object, and dynamic path planning for the target object is realized by combining real-time environment data on a ship, so that the high efficiency and the safety of the planned path are improved, and the evacuation efficiency under emergency conditions is improved.
For the convenience of understanding the present embodiment, first, a detailed description will be given of an emergency-oriented shipboard path planning method disclosed in the present embodiment, where an execution main body of the emergency-oriented shipboard path planning method provided in the present embodiment is generally a computer device with a certain computing capability. In some possible implementations, the method for planning a path on board the emergency rescue case may be implemented by a processor calling computer readable instructions stored in a memory.
Referring to fig. 1, a flowchart of a method for planning a shipboard path for an emergency rescue case according to an embodiment of the present disclosure is shown, where the method includes steps S101 to S107, where:
s101: and acquiring real-time environment data on the ship, and determining a first path of the target object based on the real-time environment data, wherein the first path is a path supporting the passing of the target object.
In the embodiment of the disclosure, a topology network of a passenger ship space can be acquired first, wherein the topology network is a topology network formed by taking room nodes as points and taking paths as lines, and then real-time environment data on a ship is acquired based on the topology network, wherein the real-time environment data comprises path data and disaster data corresponding to an emergency.
After the real-time environment data is determined, a second path which can support the passage can be determined according to the disaster-stricken data and the path data, for example, a path which can reach an emergency exit without passing through a disaster-stricken site. Next, a first path supporting the passage of the target object may be determined in the second path, for example, in the case where the target object is a wheelchair user, the first path excluding the step may be determined in the second path.
S103: and determining a target parameter corresponding to the target object.
S105: and carrying out operation based on the target parameters to obtain an operation result.
In the embodiment of the present disclosure, the target parameter may include a path evaluation index, and an operation may be performed based on the path evaluation index to obtain an operation result of the target parameter, where the operation result may include a weight of the target parameter, and specifically, an expression corresponding to the target parameter may be determined in a mathematical manner, so as to perform an operation on the target parameter based on the expression to obtain the operation result. The specific manner of determining the target parameter and performing the operation based on the target parameter is described below, and will not be described herein.
S107: and determining a target path matched with the operation result in the first path so as to carry out path planning operation on the target object based on the target path.
In the embodiment of the present disclosure, a result condition may be determined based on an operation result, where the result condition may be used to instruct to screen a target path with the highest adaptation degree with a target object in a first path, for example, a target path that is closer to an escape exit and has the shortest path, so as to facilitate scheduling of the target object for escaping, and a specific manner of determining the target path is described below and will not be repeated herein.
After the target path is determined, path planning operation can be performed based on the target path so as to guide the target object to withdraw based on the target path, or a rescue path is planned for a rescue worker based on the target path so as to rescue the target object based on the rescue path.
It should be understood that, in consideration of the uncertainty of the emergency and the variability of the scenario, the path planning operation in the present disclosure is dynamic, specifically, the path planning time t may be set, after the path planning operation is performed to plan the path for the target object, the real-time environment data on the ship may be re-acquired every time the path planning time t passes, so as to update the target path based on the real-time environment data, and perform path planning for the target object again based on the updated target path, so as to adapt to the uncertainty of the emergency and the variability of the scenario.
As can be seen from the foregoing description, in the embodiments of the present disclosure, real-time environmental data on a ship may be acquired first, a first path supporting traffic may be determined for a target object based on the real-time environmental data, and then a target parameter corresponding to the target object may be determined, so as to perform an operation based on the target parameter, to obtain an operation result. Then, a target path matched with the operation result can be determined in the first path, so that path planning operation is performed based on the target path as a target object, and dynamic path planning for the target object is realized by combining real-time environment data on a ship, so that the high efficiency and the safety of the planned path are improved, and the evacuation efficiency under emergency conditions is improved.
In an optional embodiment, the step S101, determining the first path of the target object based on the real-time environment data specifically includes the following steps:
s1011: an object type of the target object is determined.
S1012: and determining a first path of which the path data is matched with the object type based on the real-time environment data.
In the embodiment of the disclosure, the real-time environment data may be acquired first, and it is known from the above that the real-time environment data on the ship may be acquired based on a topology network of the space of the passenger ship, where the topology network is a topology network formed by taking room nodes as points and taking paths as lines.
Specifically, a topology model of inding gml may be used to map a passenger ship space into a topology network, where each room in the Indoor space may be abstracted into a node point, and a connection channel between rooms may be abstracted into edges. Here, fig. 2 is a schematic diagram of a two-dimensional space model of the ship space, and fig. 3 is a schematic diagram of a topology network of the two-dimensional space model.
Next, real-time environmental data on the ship may be acquired based on the topology network, as shown in table 1 below as path data in the real-time environmental data.
TABLE 1 Path data
The node and the adjacent node may represent two adjacent rooms in the topology network, the distance may be used to indicate the length of a path between the node and the adjacent node, the road type may be used to indicate whether the path has steps, the restricted user type may be used to indicate an object type that the path cannot pass, the disaster state may be used to indicate whether the path is affected by an emergency, and the personnel density may be used to indicate the personnel density at the current moment of the path.
In addition, as can be seen from the above, the real-time environment data may further include disaster-affected data, and the following table 2 shows disaster-affected data in the real-time environment data.
TABLE 2 disaster recovery data
Wherein the path data in table 1 described above may be updated based on the disaster-stricken data in table 2.
During implementation, the real-time environment data can be collected based on collection modes such as measurement, sensors and collection staff input data, and the method for collecting the real-time environment data is not particularly limited and can be achieved.
Next, object data of the on-board object, which is shown in table 3 below, may be acquired.
TABLE 3 object data
Specifically, the object type of the target object may be obtained based on the table 3, and based on the object type, path data matching the object type of the target object may be searched in the table 1, and a first path corresponding to the path data may be determined.
In the embodiment of the disclosure, the object type of the target object can be determined, and the first path of which the path data is matched with the object type is determined, so that the adaptability of the determined first path and the target object is improved, and the use experience of the target object is improved.
In an alternative embodiment, the target parameters include: the system comprises a path time parameter, a path distance parameter, a congestion degree parameter, a turning number parameter, an object scheduling parameter, an escape exit utilization parameter, an escape path congestion degree parameter and a path equivalent parameter.
In the embodiment of the present disclosure, a path time parameter may be used to calculate a time consumption required by a target object in the first path, and determine a first path with a shortest time consumption, where an expression of the path time parameter may be:
wherein t is ij Representing normal walking of a target object from node i to node j in a static environmentThe time, the path from node i to node j is the first path, Δt ij Representing the time that the target object delays in this first path when an emergency event occurs, V represents the set of all egress nodes on the vessel. For example, if the first path includes two sections, section A is 10m long and section B is 15m long, and the speed of the target object is 1.2m/s, the delay time Δt is affected by the disaster degree of section A A =5s, road segment a affected by disaster degree for delay time Δt B =10. Then the time taken for the target object to traverse this first path is:
the path distance parameter may be used to calculate a length of the first path and determine a first path with a shortest length, where the path distance parameter may be expressed as:
wherein L is ij Representing the length between the nodes i and j in the static environment, wherein the channel between the nodes i and j is the first path, delta L ij Indicating that the emergency event occurred, the delta L is caused to be a long distance around the target object due to the untimely obstacle ij The determination may be made based on the disaster recovery data updated in real time in table 2 above.
The crowdedness parameter may be used to calculate a person density of the first path and determine a first path with a lowest person density, where the expression of the crowdedness parameter may be:
wherein K is ij The congestion degree from node i to node j is represented by the first path, for example, the first path includes a road segment A and a road segment B, the road segment A is 10m long, and the number of people is10, road section B is 15m long, and the number of people is 20, and then the personnel density of the first path is:
it should be appreciated that the degree of congestion of the first path may be partitioned based on a road congestion partition rule, wherein the road congestion partition rule includes 5 levels, wherein the person density 0-2 is clear, the person density 2-4 is substantially clear, the person density 4-6 is slightly congested, the person density 6-8 is moderately congested, and the person density 8-10 is severely congested. Based on this, the crowding degree corresponding to the personnel density 1.42 of the first path is clear.
The turning number parameter may be used to calculate a turning degree of the first path, and determine the first path with the smallest turning degree, where the expression of the turning number parameter may be:
Wherein the first path comprises a road section ij and a road section jk ij, ) The device is used for indicating the vector included angle between the road section ij and the road section jk, and the smaller the vector included angle is, the closer the road section ij and the road section jk are to one vertical path, and the smaller the turning degree is.
In addition, determine% ij, ) Then, the included angle threshold epsilon can be facilitated, the 0-1 distribution calculation is carried out on the turning degree, and the expression function is as follows:
for example, the first path includes a road segment A, a road segment B and a road segment C, the vector angle between the road segment A and the road segment B is 30 degrees, and the vector angle between the road segment B and the road segment CSetting epsilon=40 for 50 degrees, then the degree of turning of the first path is U 4 =30+50=80, the degree of turning after 0-1 distribution based on the angle threshold ε is U 4 ＝0+1＝1。
The object scheduling parameter may be used to calculate an object scheduling cost of the first path, and determine a first path with a lowest object scheduling cost, where an expression of the object scheduling parameter may be:
wherein E represents the object type included in Table 3 above, nd represents the node aggregate in the first path, ω ikt A unit cost, v, for the target object of object type k to stay in node i in the first path within the path planning time t ikt And planning the retention quantity of the target object of the object type k in the time t for the path.
For example, a first path corresponds to two path planning time t, the first path includes target objects of two object types and includes 3 nodes, in the path planning time t1, the number of target objects of the first type retained in the node 1 is 5, the unit cost is 1.2, the number of target objects of the second type retained in the node 1 is 8, the unit cost is 1, the number of target objects of the first type retained in the node 3 is 4, and the unit cost is 1.5; the number of first type target objects retained in the node 2 in the second period is 9, the unit cost is 1.2, the number of second type target objects retained in the node 3 is 8, and the unit cost is 1.
Then the object scheduling cost U of the first path 5 ＝5*1.2+8*1+4*1.5+9*1.2+8*1＝38.8。
The escape exit utilization rate parameter may be used to calculate a utilization rate of each escape exit on the ship, and calculate a utilization rate difference value to determine a first path with a minimum utilization rate difference value, where an expression of the escape exit utilization rate parameter may be:
wherein n represents the number of emergency exits available at the current time, i, j represent the corresponding emergency exits, P i Indicating the number of people evacuated through the i exit, P j Represents the number of people evacuated through exit j, |P i -P j The i represents the absolute value of the utilization difference of emergency exit i and emergency exit j.
For example, there are 4 emergency exits, for example, in the emergency rescue path planning, the evacuation numbers of the 4 exits are respectively 12, 20, 14, 15, then U 6 ＝|12-20|+|12-14|+|12-15|+|20-14|+|20-15|+|14-15|＝25。
The escape route congestion degree parameter may be used to calculate an escape congestion degree of the first route, and determine a first route with a lowest escape congestion degree, where an expression of the escape route congestion degree parameter may be:
wherein n represents the number of road segments in the first path, L j Representing the length of the road section j in the first path, v representing the passing speed of the target object, P j The number of target objects passing through the road section j at the same time is less than 5 people, and the crowding degree is regarded as no influence on the passing through the road section.
For example, if the first path includes the road segment a, the road segment B, the road segment C and the road segment D, the number of the target objects passing simultaneously is 6, 10, 4 and 7, respectively, and the passing speed v=1.2 m/s of the target objects is assumed, the escape congestion degree of the first path is determined
The path equivalent parameter is used for calculating the path equivalent of the first path and determining the first path with the minimum path equivalent, wherein the path equivalent can be used for indicating the difficulty coefficient of the first path passing, and the expression of the path equivalent parameter can be:
Wherein n represents the number of segments in the first path, L j Representing the length of the road segment j in the first path, beta 1j ，β 2j ，β 3j The wind wave, gradient and passing difficulty coefficient of different barrier types of the road section j are respectively represented.
For example, if the first path includes the road segment a, the road segment B, and the road segment C, and the road segment lengths are 5m, 8m, and 10m, respectively, wherein the difficulty coefficient is set to (1.5,1,2), (1.2,1.6,1.8), and (1,1.2,1.5), respectively, the path equivalent U of the first path 8 ＝5*1.5*1*2+8*1.2*1.6*1.8+10*1*1.2*1.5＝60.648。
In the embodiment of the disclosure, the first path can be screened through various target parameters, so that the scientificity of an algorithm is improved, the adaptation degree of the determined target path and the target object is higher, and the use experience of the target object is improved.
In an optional embodiment, the step S105, based on the target parameter, performs an operation on the first path to obtain an operation result, and specifically includes the following steps:
s1051: and obtaining the scoring of the scoring object on the target parameters.
S1052: and calculating the scoring of the target parameter based on the scoring object to obtain the weight of the target parameter, and determining the weight as the calculation result.
In the embodiment of the present disclosure, as can be seen from table 1, the path data of the first path is dimensionalized data having inherent and measurable physical properties, and therefore, the path data with dimensionality different in units cannot be directly operated, and based on this, the path data may be preprocessed in advance, where the preprocessing may be dimensionless normalization processing, so as to convert the path data into dimensionless normalized data.
In particular implementation, the path data y ij Can be expressed by the formula
For the path data y ij Preprocessing to obtain the path data y ij Corresponding dimensionless normalized data x ij 。
Wherein the path data y ij Path data, y, which can be used to indicate the jth target object corresponding to the ith target parameter i max Can be used to indicate the maximum value, y, of the ith target parameter i min May be used to indicate the minimum value of the ith target parameter. For example, when the i-th target parameter is a path distance parameter, y i max Can be used for indicating the position of L ij Δl ij At the very most long of the time it is,
yimin=0.
After the dimensionless normalization data of the path data are determined, scoring of the scoring object on the target parameters can be obtained, weights of the target parameters are calculated based on the scoring and the dimensionless normalization data, the weights are determined as the operation result, and the specific way of calculating the weights of the target parameters is as follows, which is not repeated herein.
In the embodiment of the disclosure, the path data can be preprocessed through dimensionless normalization processing, so that dimensionless normalization data of the path data are obtained, and a basis is provided for the process of calculating the weight of each target parameter based on the dimensionless normalization data.
In an alternative embodiment, step S1053 is performed based on the dimensionless normalization data x ij Performing operation to obtainThe weight of the target parameter specifically comprises the following steps:
s11: when the number of the target parameters is m, calculating the importance ratio r of each target parameter to the adjacent target parameters based on scoring of the scoring object on the m target parameters i 。
S12: according to the formula
Calculating target parameter U m Weight w of (2) m 。
S13: according to formula w k-1 ＝r k w k Calculating and dividing the target parameter U m Weights w of other target parameters than k-1 Where k=m, m-1, m-2, … 2.
In the embodiment of the disclosure, the number m of target parameters may be less than or equal to 8, the specific value of m may be determined based on the actual situation, for example, when the sudden situation is a fire, the path time parameter U may be selected in combination with the characteristics of the escape path in the case of the fire 1 Path distance parameter U 2 Congestion degree parameter U 3 Number of turns parameter U 4 As a target parameter, m=4 at this time.
After determining the target parameters, the target parameters may be ranked according to importance to obtain ranking results, where the target parameters U are used 1 -U 4 For example, if the result of the sorting is U 1 、U 2 、U 3 、U 4 Based on the sorting result and the scoring of the target parameters by the scoring object, the importance ratio r of each target parameter to the adjacent target parameters can be calculated i Specifically calculating the importance ratio r i The manner of (a) is described below and will not be described in detail herein.
Next, the importance ratio r may be based on the ranking results i The weight of each target parameter is calculated, specifically, the weight can be calculated according to the formula
Calculating target parameter U m Weights of (2)w m When m=4, the target parameter U 4 Weight of +.>
In determining the target parameter U m Weight w of (2) m Thereafter, the formula w can be used k-1 ＝r k w k Respectively calculating target parameters U m Weights of other target parameters than k=m, m-1, m-2, … 2. Specifically, when m=4, k=4, 3,2.
Based on this, the target parameter U 3 Weight w of (2) 3 ＝r 4 W 4 Target parameter u 2 Weight W of (2) 3 ＝r 3 w 3 Target parameter u 1 Weight w of (2) 1 ＝r 2 w 2 。
In the embodiment of the disclosure, when the target parameters are m, the weight of each target parameter can be calculated, so that the logic of the algorithm is increased, and a basis is provided for the process of determining the target path based on the target parameters and the weights.
In an optional embodiment, step S11, calculating the importance ratio r of each target parameter to the adjacent target parameters based on the scoring of the m target parameters by the scoring object I The method specifically comprises the following steps:
(1) Determining entropy E of each target parameter based on scoring of m target parameters by scoring object j ；
(2) According to the formula
Calculating the importance ratio r of each target parameter to the adjacent target parameter i 。
In the disclosed embodiment, the entropy value e of each target parameter may be calculated first j . Specifically, first, scoring data of a plurality of scoring objects for each target parameter may be determined, where the scoring objects may be expert personnel, and the scoring data is shown in the following table 4 a:
table 4a scoring data for target parameters
| U 1 | U 2 | U 3 | U 4 | |
| Expert 1 | 10 | 8 | 7 | 4 |
| Expert 2 | 10 | 7 | 7 | 5 |
| Expert 3 | 10 | 8 | 6 | 5 |
Next, the feature specific gravity of the secret parameters may be determined based on the scoring data in table 4a, in particular, by the formula
Determining the characteristic specific gravity of each target parameter, wherein v ij Scoring data for the ith expert on the nth target parameter, i=1, 2,3; j=1, 2,3,4. The specific gravities determined are shown in Table 4b below:
TABLE 4 specific gravity of target parameters
| U 1 | U 2 | U 3 | U 4 | |
| Expert 1 | 0.33 | 0.35 | 0.35 | 0.28 |
| Expert 2 | 0.33 | 0.30 | 0.35 | 0.36 |
| Expert 3 | 0.33 | 0.35 | 0.30 | 0.36 |
After determining the characteristic specific gravity of each target parameter, the formula can be adopted
Determining entropy of each target parameter, wherein f ij Scoring data for the ith expert on the nth target parameter, i=1, 2,3; j=1, 2,3,4. The determined entropy values are shown in table 4c below:
TABLE 4 entropy of target parameters
| Entropy value | U 1 | U 2 | U 3 | U 4 |
| e j | 1 | 0.998 | 0.998 | 0.994 |
Determining the entropy value e of each target parameter j Thereafter, the formula can be followed
Calculating the importance ratio r of each target parameter to the adjacent target parameter i Where k=j.
In specific implementation, based on the above sorting result, adjacent target parameters of each target parameter can be determined, and the importance ratio r of each target parameter can be calculated based on the adjacent target parameters i For example, target parameter U 4 Adjacent target parameter U of (2) 3 Can be based on the adjacent target parameter U 3 Calculating target parameter U 4 Importance ratio r of (2) 4 . Specifically, the determined importance ratios of the respective target parameters are shown in the following table 4 d:
TABLE 4 importance ratio of target parameters
| Ratio of | U 1 | U 2 | U 3 | U 4 |
| r k | — | 1.002 | 1 | 1.004 |
In the embodiment of the disclosure, the importance ratio of each target parameter can be calculated, so that the logic of the algorithm is increased, and a basis is provided for the process of determining the weight of the target parameter based on the importance ratio of the target parameter.
In an optional embodiment, the step S107 is a step of determining, in the first path, a target path whose operation result meets a result condition, and specifically includes the following steps:
s1071: and determining a result condition based on the operation result.
S1072: where the operation result includes the target parameter U m Weight w of (2) m At this time, according to equation c= Σ m＝1 w m U m And calculating a target value C corresponding to each first path.
S1073: and determining a target path of which the target value C meets the result condition in the first path.
In the embodiment of the present disclosure, when m=4, the weights of the target parameters are shown in the following table 5:
table 5 weights of target parameters
| Weighting of | U 1 | U 2 | U 3 | U 4 |
| w | 0.2506 | 0.2501 | 0.2501 | 0.2491 |
After determining the target parameters and corresponding weights for the first path, the target parameters and corresponding weights may be determined by the formula c= Σ m＝1 w m U m And calculating a target value C corresponding to each first path, and determining a target path of which the target value C meets a result condition, wherein the result condition can be a sorting condition, and specifically, the first path of which the target value C is the smallest can be determined as the target path of which the result condition is met.
In the embodiment of the disclosure, the first path with the smallest calculated target value C may be determined as the target path, so that when the target object is evacuated based on the target path, the evacuation efficiency of the target path is highest, the availability is highest, and the evacuation efficiency of the target object is improved.
In summary, in the embodiment of the present disclosure, real-time environmental data on a ship may be first acquired, a first path supporting traffic may be determined for a target object based on the real-time environmental data, and then a target parameter corresponding to the target object may be determined to perform an operation based on the target parameter, so as to obtain an operation result. Then, a target path matched with the operation result can be determined in the first path, so that path planning operation is performed based on the target path as a target object, and dynamic path planning for the target object is realized by combining real-time environment data on a ship, so that the high efficiency and the safety of the planned path are improved, and the evacuation efficiency under emergency conditions is improved.
It will be appreciated by those skilled in the art that in the above-described method of the specific embodiments, the written order of steps is not meant to imply a strict order of execution but rather should be construed according to the function and possibly inherent logic of the steps.
Based on the same inventive concept, the embodiment of the disclosure further provides an emergency-oriented shipboard path planning device corresponding to the emergency-oriented shipboard path planning method, and because the principle of solving the problem of the device in the embodiment of the disclosure is similar to that of the emergency-oriented shipboard path planning method in the embodiment of the disclosure, the implementation of the device can refer to the implementation of the method, and the repetition is omitted.
Referring to fig. 4, a schematic diagram of a ship path planning device for emergency rescue according to an embodiment of the present disclosure is shown, where the device includes: an acquisition unit 41, a first determination unit 42, an operation unit 43, a second determination unit 44; wherein,,
an obtaining unit 41, configured to obtain real-time environmental data on a ship, and determine a first path of a target object based on the real-time environmental data, where the first path is a path supporting the passage of the target object;
a first determining unit 42, configured to determine a target parameter corresponding to the target object;
an operation unit 43, configured to perform an operation based on the target parameter to obtain an operation result;
and a second determining unit 44, configured to determine a target path that matches the operation result from the first paths, so as to perform a path planning operation for the target object based on the target path.
In the embodiment of the disclosure, real-time environmental data on a ship can be acquired first, a first path supporting traffic is determined for a target object based on the real-time environmental data, and then a target parameter corresponding to the target object can be determined to perform operation based on the target parameter, so as to obtain an operation result. Then, a target path matched with the operation result can be determined in the first path, so that path planning operation is performed based on the target path as a target object, and dynamic path planning for the target object is realized by combining real-time environment data on a ship, so that the high efficiency and the safety of the planned path are improved, and the evacuation efficiency under emergency conditions is improved.
In a possible implementation, the operation unit 43 is further configured to:
obtaining scoring of the scoring object on the target parameter;
and calculating the scoring of the target parameter based on the scoring object to obtain the weight of the target parameter, and determining the weight as the calculation result.
In a possible implementation, the operation unit 43 is further configured to:
when the number of the target parameters is m, calculating the importance ratio r of each target parameter to the adjacent target parameters based on scoring of the scoring object on the m target parameters i ；
According to the formula
Calculating target parameter U m Weight w of (2) m ；
According to formula w k-1 ＝ k w k Calculating and dividing the target parameter U m Weights w of other target parameters than k-1 Where k=m, m-1, -2, … 2.
In a possible implementation, the operation unit 43 is further configured to:
determining entropy value e of each target parameter based on scoring of m target parameters by scoring object j ；
According to the formula
Calculating the importance ratio r of each target parameter to the adjacent target parameter i 。
In a possible embodiment, the second determining unit 44 is further configured to:
determining a result condition based on the operation result;
where the operation result includes the target parameter U m Weight w of (2) m At this time, according to equation c= Σ m＝1 w m U m Calculating a target value C corresponding to each first path;
and determining a target path of which the target value C meets the result condition in the first path.
In a possible embodiment, the target parameters include: the system comprises a path time parameter, a path distance parameter, a congestion degree parameter, a turning number parameter, an object scheduling parameter, an escape exit utilization parameter, an escape path congestion degree parameter and a path equivalent parameter.
In a possible implementation, the obtaining unit 41 is further configured to:
determining an object type of the target object;
and determining a first path of which the path data is matched with the object type based on the real-time environment data.
The process flow of each unit in the apparatus and the interaction flow between units may be described with reference to the related descriptions in the above method embodiments, which are not described in detail herein.
Corresponding to the method for planning a ship path facing an emergency rescue situation in fig. 1, the embodiment of the present disclosure further provides a computer device 500, as shown in fig. 5, which is a schematic structural diagram of the computer device 500 provided by the embodiment of the present disclosure, including:
a processor 51, a memory 52, and a bus 53; memory 52 is used to store execution instructions, including memory 521 and external storage 522; the memory 521 is also referred to as an internal memory, and is used for temporarily storing operation data in the processor 51 and data exchanged with the external memory 522 such as a hard disk, and the processor 51 exchanges data with the external memory 522 through the memory 521, and when the computer device 500 is operated, the processor 51 and the memory 52 communicate with each other through the bus 53, so that the processor 51 executes the following instructions:
Acquiring real-time environment data on a ship, and determining a first path of a target object based on the real-time environment data, wherein the first path is a path supporting the passing of the target object;
determining a target parameter corresponding to the target object;
based on the target parameter, calculating the first path to obtain an operation result;
and determining a target path with an operation result meeting a result condition from the first path, so as to perform path planning operation for the target object based on the target path.
The disclosed embodiments also provide a computer readable storage medium, on which a computer program is stored, which when executed by a processor performs the steps of the method for on-board path planning for emergency rescue situations described in the above method embodiments. Wherein the storage medium may be a volatile or nonvolatile computer readable storage medium.
The embodiments of the present disclosure further provide a computer program product, where the computer program product carries program code, where instructions included in the program code may be used to perform the steps of the method for planning a ship path for an emergency rescue case described in the foregoing method embodiments, and specifically, reference may be made to the foregoing method embodiments, which are not described herein.
Wherein the above-mentioned computer program product may be realized in particular by means of hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied as a computer storage medium, and in another alternative embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), or the like.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present disclosure may be embodied in essence or a part contributing to the prior art or a part of the technical solution, or in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present disclosure. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present disclosure, and are not intended to limit the scope of the disclosure, but the present disclosure is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, it is not limited to the disclosure: any person skilled in the art, within the technical scope of the disclosure of the present disclosure, may modify or easily conceive changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features thereof; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the disclosure, and are intended to be included within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. The shipboard path planning method for the emergency rescue situation is characterized by comprising the following steps of:
acquiring real-time environment data on a ship, and determining a first path of a target object based on the real-time environment data, wherein the first path is a path supporting the passing of the target object;
Determining a target parameter corresponding to the target object;
performing operation based on the target parameters to obtain an operation result;
and determining a target path matched with the operation result in the first path so as to carry out path planning operation on the target object based on the target path.
2. The method according to claim 1, wherein the performing the operation based on the target parameter to obtain an operation result includes:
obtaining scoring of the scoring object on the target parameter;
and calculating the scoring of the target parameter based on the scoring object to obtain the weight of the target parameter, and determining the weight as the calculation result.
3. The method according to claim 2, wherein the calculating the score of the target parameter based on the scoring object, to obtain the weight of the target parameter, comprises:
when the number of the target parameters is m, calculating the importance ratio r of each target parameter to the adjacent target parameters based on scoring of the scoring object on the m target parameters i ；
According to the formula
Calculating target parametersNumber U m Weight w of (2) m ；
According to formula w k-1 ＝ k w k Calculating and dividing the target parameter U m Weights w of other target parameters than k-1 Where k=m, m-1, -2, … 2.
4. A method according to claim 3, wherein the importance ratio r of each target parameter to the adjacent target parameter is calculated based on scoring of m target parameters by the scoring object i Comprising:
determining entropy value e of each target parameter based on scoring of m target parameters by scoring object j ；
According to the formula
Calculating the importance ratio r of each target parameter to the adjacent target parameter i 。
5. The method of claim 1, wherein determining a target path in the first path that matches the result of the operation comprises:
determining a result condition based on the operation result;
where the operation result includes the target parameter U m Weight w of (2) m At this time, according to equation c= Σ m＝1 w m U m Calculating a target value C corresponding to each first path;
and determining a target path of which the target value C meets the result condition in the first path.
6. The method of claim 1, wherein the target parameters comprise: the system comprises a path time parameter, a path distance parameter, a congestion degree parameter, a turning number parameter, an object scheduling parameter, an escape exit utilization parameter, an escape path congestion degree parameter and a path equivalent parameter.
7. The method of claim 1, wherein the determining a first path of a target object based on the real-time environmental data comprises:
determining an object type of the target object;
and determining a first path of which the path data is matched with the object type based on the real-time environment data.
8. An emergency situation oriented shipboard path planning device, comprising:
the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring real-time environment data on a ship and determining a first path of a target object based on the real-time environment data, wherein the first path is a path supporting the passing of the target object;
the first determining unit is used for determining target parameters corresponding to the target objects;
the operation unit is used for carrying out operation based on the target parameters to obtain an operation result;
and the second determining unit is used for determining a target path matched with the operation result in the first path so as to perform path planning operation for the target object based on the target path.
9. A computer device, comprising: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory in communication via the bus when the computer device is running, the machine readable instructions when executed by the processor performing the steps of the emergency situation oriented shipboard path planning method of any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when run by a processor, performs the steps of the emergency situation oriented shipboard path planning method according to any one of claims 1 to 7.
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